Is there a way to have ContactListener generate contact information for kinematic vs static interactions?

[LeifNo]

I understand that kinematic and static bodies both have infinite mass and it's therefore the user's responsibility to perform any additional logic to handle separating them, but is there a way to have ContactListener still return the contact points when they come into contact? I.e., for OnContactAdded to give a result where one body is Kinematic and one is Static, even with the knowledge that the constraint system will not solve this collision on its own.

If not, is the proper way to query this type of information to do a shape cast?

Thank you.

[mihe]

See BodyCreationSettings::mCollideKinematicVsNonDynamic and Body::SetCollideKinematicVsNonDynamic:

JoltPhysics/Jolt/Physics/Body/Body.h

Lines 76 to 79 in 8feb90c

	/// If kinematic objects can generate contact points against other kinematic or static objects.
	/// Note that turning this on can be CPU intensive as much more collision detection work will be done without any effect on the simulation (kinematic objects are not affected by other kinematic/static objects).
	/// This can be used to make sensors detect static objects. Note that the sensor must be kinematic and active for it to detect static objects.
	inline void SetCollideKinematicVsNonDynamic(bool inCollide) { JPH_ASSERT(IsRigidBody()); if (inCollide) mFlags.fetch_or(uint8(EFlags::CollideKinematicVsNonDynamic), memory_order_relaxed); else mFlags.fetch_and(uint8(~uint8(EFlags::CollideKinematicVsNonDynamic)), memory_order_relaxed); }

[LeifNo]

Oh interesting, thank you. I had seen mention of that property on this page https://jrouwe.github.io/JoltPhysics/index.html, but it was under the Sensors section so I must have not put together that it wasn't ONLY applicable to sensors.